Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfiguratio: Initializing worksiteServer nServer : WorkSite::WorkSite -- Adding attributes Su: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard//config/dorado389/workSite.cfg pervisor::createTa: Using default vehicle config file "/home/dorado1/auv/altex/onboard//config/dorado389/vehicle.cfg" sk() - dropWeight Supervisor::createTask() - externalCommsServer Supervisor::createTask() - navigationServer Supervisor::createTask() - layeredControlServer : WorkSite::WorkSite -- Finished loading parameters S: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 u: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 perv: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 is: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 or: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 ::: WorkSite server: 0x21b6c createTask() - dynamicControlServer Supervisor::createTask() - tailConeServer Supervisor::createTask() - octansServer Supervisor::createTask() - crossbowServer Supervisor::createTa: Preparing to fork : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() sk(: DynamicControlServer - Got event 1 from TailCone : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 ) -: SerialDevice: done... gpsSer: I'm the child...forking ver Sup: SerialDevice: done... ervisor::creat: TailConeServer -- Maximum Elevator Actuator Excursion is 1421 Counts eT: TailConeServer:: -- Minimum Elevator Actuator Excursion is -1272 Counts ask: TailConeServer -- Maximum Rudder Actuator Excursion is 1242 Counts (): TailConeServer -- Minimum Rudder Actuator Excursion is -1096 Counts - : SerialDevice: done... paros: Preparing to fork ciS: I'm the child...forking e: SerialDevice: done... rver Supe: SerialDeviceDriver::initialize() rvi: SerialDevice: done... sor::c: **** EventTriggers::add() - attaching proxy reateTas: SerialDevice: done... : SerialDevice: done... k() - psa916Server Supervisor::crea: Gps: initializing teTa: SerialDevice: done... sk() : Gps: done initializing... - : **** EventTriggers::add() - attaching proxy seabirdSer: SerialDevice: done... ver Su: SerialDevice: done... pervi: Crossbow.cc: Setting polled mode sor::c: Crossbow.cc: Setting polled mode reat: Crossbow.cc: In getSerialNumber() eTas: Crossbow.cc: _device->read failed with error k(): octans::readRecord() - serial device timed out : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 - : **** EventTriggers::add() - attaching proxy metrab: SerialDevice: done... y: PSA916: constructing... teS: SerialDevice: done... e: PSA916: initializing... rve: PSA916: trying to write data... r : PSA916: debug mode on... : Crossbow::readData: Insufficient characters : SerialDevice: done... Supe: PSA916: confirming data stream... rvisor::createTask() - lblServer S: Crossbow::readData: Insufficient characters : seabirdDriver RUNNING... upervisor:: SerialDevice: done... :createTa: octans::readRecord() - serial device timed out sk() - sch: Crossbow::readData: Insufficient characters e: Seabird.cc -- Loading CTD constants from /home/dorado1/auv/altex/onboard//config/dorado389/seabird.cfg duler : Crossbow::readData: Insufficient characters : CTD.cc -- Calibration constants: T_a = 3.679997e-003 T_b = 6.026245e-004 T_c = 1.592950e-005 T_d = 2.062384e-006 T_f0 = 2798.583000 C_a = 2.805518e-004 C_b = 1.593498e+000 C_c = -10.937486 C_d = -8.484504e-005 C_m = 3.500 EPS = -9.570000e-008 : SerialDevice::confirm() - Timed Out S: Seabird::Seabird() - create interface to depth sensor... u: PSA916: data not streaming... pe: gpsDriver::readRecord() - serial device timed out r: SerialDevice: done... : PSA916: initializing... v: Seabird.cc -- constructing Log... is: Crossbow::readData: Insufficient characters : **** EventTriggers::add() - attaching proxy or: PSA916: trying to write data... ::createTask: PSA916: debug mode on... : SerialDevice: done... (): SerialDevice: done... - : Schedule Server : Subscribing to Layered Control. d: Crossbow::readData: Insufficient characters : SerialDevice: done... v: CTDLog.cc -- beginning constructor... lS: PSA916: confirming data stream... erver : SerialDevice: done... : PeriodicTask::run() (scheduleServer) - sampleInterval=200, maxInterval=200 : CTDLog.cc -- constructor succeeded : The beacon Array is: : octans::readRecord() - serial device timed out : Seabird.cc -- constructor succeeded : 2 : seabirdDriver -- constructor succeeded : PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000 : 4 : Seabird:initializing Seabird... : 5 : 6 : Crossbow::readData: Insufficient characters : SerialDevice: done... : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : Crossbow::readData: Insufficient characters : 7 : : SerialDevice: done... : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : Crossbow::readData: Insufficient characters : 5 : Navigation: Server for aux sensor "Velocimeter" not found : 6 : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : SerialDeviceDriver::initialize() : 7 : : Starting DVL Initialization. : 2 : Crossbow::readData: Insufficient characters : 4 : SerialDevice: done... : 5 : 6 : 7 : : 2 : 4 : 5 : SerialDevice::confirm() - Timed Out : 6 : PSA916: data not streaming... : 7 : **** EventTriggers::add() - attaching proxy : : Caught Exception: PSA916::initialize() failed after 2 tries : Crossbow::readData: Insufficient characters : 2 : **** SharedData destructor for object PSA916Input_ShmemName **** : 4 : **** SharedData destructor for object PSA916Output_ShmemName **** : 5 : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : 6 : **** SharedData destructor for object PSA916Input_ShmemName **** : 7 : **** SharedData destructor for object PSA916Output_ShmemName **** : : Crossbow::readData: Insufficient characters : Lbl::readTaskIF - Got new ping time. Interval = 991837829.666050 : octans::readRecord() - serial device timed out : 2 : in first loop : 4 : **** EventTriggers::add() - attaching proxy : 5 : Crossbow::readData: Insufficient characters : 6 : 7 : : PS8000: Inactivate unused channels: $V, 2,00.0000,00.0000,00.0000,09.0000,00.0000,09.0000,00.0000,09.0000,00.0000,09.0000,00.0000,09.0000,00.0000,09.0000,00.0000,00.0000,00.0000,00.0000,00.0000,00.0000 : LayeredControl::execute() -- (t = 0.009999) Behavior setpoint has changed to state Active : LayeredControl::execute() -- (t = 0.019999) Behavior missionTimer has changed to state Active : **** EventTriggers::add() - attaching proxy : *** Mission started *** : Schedule Server -> Start : Crossbow::readData: Insufficient characters : DynamicControlServer::process() - commands: : verticalMode=1, horizontalMode=1, speedMode=1 : vertical=0.00, horizontal=3.56, speed=0.00 : DynamicControlServer::process() - state: : Crossbow::readData: Insufficient characters : x=4067388.80, y=600674.20, z=0.00 : u=4067388.80, v=600674.20, w=0.00 : phi=0.00, theta=0.00, psi=0.00 : omega_Bx=0.00, omega_By=0.00, omega_Bz=0.00 : DynamicControl: Write to tailcone and terminate: : gpsDriver::readRecord() - serial device timed out : Commanded Prop Speed = 0.00; Elevator = 0.00; Rudder = 0.03; radians : Commanded Prop Speed = 0.00; Elevator = 0.00; Rudder = 0.00; radians : Navigation - 4 consecutive bad readings from sensor Ahrs : Navigation - aborting! : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object navigationOutput **** : Crossbow::readData: Insufficient characters : TaskServer::signalHandler() for task NavigationIFServer - exit() : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object navigationOutput **** : Task "navigationServer" died? Supervisor: Crossbow::readData: Insufficient characters ::createTask() - navigationServer : Task "psa916Server" died? Su: Crossbow::readData: Insufficient characters pervisor::createTask(: octans::readRecord() - serial device timed out ) - psa916S: Crossbow::readData: Insufficient characters erver : Crossbow::readData: Insufficient characters : Supervisor::Supervisor() - task(s) died; exiting : Supervisor::shutdown() : **** SharedData destructor for object LblDriverOutput_ShmemName **** : TaskServer::signalHandler() for task DvlIFServer - exit() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : TaskServer::signalHandler() for task AhrsIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task WorkSiteIFServer - exit() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : TaskServer::signalHandler() for task TailConeIFServer - exit() : Supervisor::signalHandler(); caught signal 2 : **** SharedData destructor for object MetraByteOutput **** : TaskServer::signalHandler() for task EventLogIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() //1/home/dorado1/auv/altex/onboard/bin/tailConeDriver: TaskServer::signalHandler() for task LayeredControlIFServer - exit() terminated (SIG: TaskServer::signalHandler() for task CrossbowIFServer - exit() SEGV: TaskServer::signalHandler() for task GpsIFServer - exit() ) at : TaskServer::signalHandler() for task CtdIFServer - exit() 0007: TaskServer::signalHandler() for task MetraByteIFServer - exit() :0001: TaskServer::signalHandler() for task LblIFServer - exit() 1FEA: **** SharedData destructor for object GpsOutput_ShmemName **** . : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object SeabirdOutput_ShmemName **** : Supervisor::signalHandler(); caught signal 2 : **** SharedData destructor for object octansOutput **** : **** SharedData destructor for object DvlOutput_ShmemName **** : TaskServer::signalHandler() for task TailConeIFServer - exit() : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : TaskServer::signalHandler() for task LblIFServer - exit() : **** SharedData destructor for object DvlOutput_ShmemName **** : TaskServer::signalHandler() for task AhrsIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : NavigationOutput::~NavigationOutput() : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object crossbowOutput **** : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object SeabirdOutput_ShmemName **** : TaskServer::signalHandler() for task MetraByteIFServer - exit() : **** SharedData destructor for object TailConeInput_ShmemName **** : Supervisor::cleanup() - delete _theSupervisor : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : **** SharedData destructor for object LblDriverOutput_ShmemName **** : TaskServer::signalHandler() for task CtdIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : Supervisor::shutdown() : **** SharedData destructor for object MetraByteOutput **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object crossbowCommand **** : Supervisor::shutdown() : TaskServer::signalHandler() for task TailConeIFServer - exit() : Supervisor::shutdown() - done() : TaskServer::signalHandler() - _theTaskServer doesn't exist : TaskServer::signalHandler() for task MetraByteIFServer - exit() : Supervisor::shutdown() - done() : TaskServer::signalHandler() - _theTaskServer doesn't exist : SerialDevice::confirm() - Timed Out : Dvl::wakeupDvl: Failed to establish comms with DVL : SerialDevice::confirm() - Timed Out : Dvl::wakeupDvl: Failed to establish comms with DVL